CN203003902U - Universal mechanical gripper - Google Patents
Universal mechanical gripper Download PDFInfo
- Publication number
- CN203003902U CN203003902U CN 201220747750 CN201220747750U CN203003902U CN 203003902 U CN203003902 U CN 203003902U CN 201220747750 CN201220747750 CN 201220747750 CN 201220747750 U CN201220747750 U CN 201220747750U CN 203003902 U CN203003902 U CN 203003902U
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- paw
- gripper
- turning arm
- universal mechanical
- motor
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Abstract
The utility model relates to a universal mechanical gripper comprising two pairs or more than two pairs of clamping arms connected in parallel at an interval via a connection device, wherein each clamping arm comprises a linear motor composed of a motor body and a rotary arm penetrating through the motor body, a first gripper and a second gripper; the first gripper and the second gripper are mounted at the end parts of each rotary arm, at two sides of the linear motor, via nuts; and each first gripper and the corresponding second gripper are driven to oppositely or reversely move along a shaft stretching direction of the corresponding rotary arm by the linear motor. The clamping arms further comprise guide rails which are mounted at one side of the motor body and are in parallel to the rotary arms, and the first grippers and the second grippers can stably slide on the guide rails during the movement along the axial direction of the rotary arms. A pressing device is formed at the vertical opposite inner sides of each first gripper and the corresponding second gripper, vertical to the moving direction of the first gripper and the corresponding second gripper and used for enabling the clamping arms to stably grip target articles. The universal mechanical gripper can automatically adjust the specification of the gripper according to the sizes of workpieces and can simultaneously operate processed workpieces and workpieces to be processed, so that the production efficiency is improved and the production cost is reduced.
Description
Technical field
The utility model relates to a kind of mechanical paw, particularly a kind ofly can automatically adjust the universal mechanical paw of paw specification according to workpiece size.
Background technology
Along with the development of modern manufacturing industry, a lot of actions are simple, and the station that repeatability is strong adopts mechanical paw to substitute manually-operated, as the picking up of workpiece, locate, the operation such as placement.The mechanical paw of the same specification of prior art can only operate the workpiece of same size, and when the production scene need to add man-hour to the workpiece of different sizes, the machine that just need to stop readjusts to satisfy the workpiece requirement to mechanical paw; And the existing machinery paw once can only be realized the operation of a workpiece, its operating process is generally first to pick up a target piece from zone to be processed to machining area, again this workpiece is picked up machining area after this workpiece completion of processing, and then pick up a target piece from zone to be processed and repeat action before, reduce so greatly production efficiency, increased production cost.
Summary of the invention
For above problem, the utility model provides a kind of universal mechanical paw, can automatically adjust the paw specification according to workpiece size, and can operate simultaneously workpiece and to be processed.
Universal mechanical paw described in the utility model comprises: two secondary or two secondary above clamping limbs, and described many sub-folders gripping arm is by jockey interval arranged side by side connection;
Described clamping limb comprises: orthoscopic motor, the first paw, the second paw;
Described orthoscopic motor comprises: motor body, and through the turning arm of motor body, described turning arm is shape of threads, the thread rotary orientation of described motor body both sides is opposite;
Described the first paw and the second paw are installed on turning arm end, orthoscopic motor both sides, are connected by nut with turning arm, can by the orthoscopic motor-driven along turning arm shaft extension direction in opposite directions or counter motion, be used for the crawl of target piece or unclamp.
Concrete, clamping limb also comprises guide rail, described guide rails assembling is in motor body one side and turning arm parallel direction, and described the first paw is connected with the guide rail contact with the second paw, is used for facilitating the first paw and the second paw along turning arm axial direction Stable sliding in opposite directions or during counter motion.
Concrete, on described jockey, Connection Block is installed, be used for being connected with other equipment installations.
Concrete, described clamping limb is two pairs, described Connection Block is positioned at the centre of jockey.
Concrete, described the first paw and the second paw are provided with hold down gag in the inboard in opposite directions, and described hold down gag is installed perpendicular to the first paw and the second paw direction of motion, when being used for clamping limb crawl target piece, target piece is firmly grasped.
Concrete, described the first paw side relative to installation end the second paw is provided with the hook pawl, is used for facilitating the crawl of target piece.
Beneficial effect
The utility model can be adjusted the paw specification automatically according to the workpiece size, in process of production, the machine that need not to stop is readjusted mechanical paw, and can operate simultaneously workpiece and to be processed, greatly improve production efficiency, reduced production cost.
Description of drawings
The universal mechanical paw structural representation that Fig. 1 provides for the utility model embodiment;
The universal mechanical paw clamping limb schematic diagram that Fig. 2 provides for the utility model embodiment;
The universal mechanical paw orthoscopic motor schematic diagram that Fig. 3 provides for the utility model embodiment.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
In the utility model embodiment, described orthoscopic motor 2 is for being converted to the rotary movement of motor in the motor of rectilinear motion mode, generally comprise motor body 021 and turning arm 022, described turning arm 022 is installed through motor body 021, motor body 021 can drive turning arm 022 and rotate, on turning arm 022, screw thread is arranged, as required, the thread rotary orientation of motor both sides is opposite.General described orthoscopic motor is specially stepping orthoscopic motor or servo orthoscopic motor, it specifically drives by step actuator or servo-driver, can unify the sending action instruction to driver by control device, by the concrete drive motors rotation of driver, thereby further rotary movement is converted into rectilinear motion mode.Described turning arm 022 is adjustable length according to actual needs.
Below in conjunction with concrete accompanying drawing, realization of the present utility model is described in detail.
As shown in Figure 1, a preferred embodiment that provides for the utility model.
Described universal mechanical paw comprises: two secondary or two secondary above clamping limbs 1, and described many sub-folders gripping arm 1 is by jockey 6 interval arranged side by side connection; Generally, the universal mechanical paw comprises two sub-folder gripping arms 1, if any special clamping requirement, as complicated in the target piece shape matching that needs clamping or for the firm or required precision that guarantees clamping can for many secondary parallel side by side, clamping limb 1 is for being generally U-shaped shape as described in Figure 2, but is not limited to U-shaped shape.
Described clamping limb 1 comprises: orthoscopic motor 2, the first paw 3, the second paws 4.
Described orthoscopic motor 2 comprises as shown in Figure 3: motor body 021, and through the turning arm 022 of motor body 021, described turning arm 022 is shape of threads, the thread rotary orientation of described motor body 021 both sides is opposite; Described turning arm 022 is leading screw, and it is opposite that difference is that leading screw is positioned at the thread rotary orientation of motor both sides.For integral type designs, motor body 021 can drive turning arm 022 and rotate motor body 021 with turning arm 022.And the first paw 3 is connected with turning arm 022 by nut 10 with the second paw 4 one ends, described nut 10 is corresponding with turning arm 022 screw thread, the first paw 3 and the second paw 4 carry out in opposite directions or counter motion along turning arm 022, thereby the crawl of completing target piece with unclamp, realized easily that clamping limb 1 according to the external dimensions specification of realistic objective object freely adapts to grasp.
In order to guarantee that the first paw 3 and the second paw 4 can grasp smoothly and unclamp target piece, complete high-precision crawl, clamping limb 1 also comprises guide rail 5, described the guide rail 5 and mechanical side that be fixedly installed in motor body 021 parallel with turning arm 022, described the first paw 3, the second paw 4 are connected with guide rail 5 contacts, and can slide on guide rail 5, further guaranteed the mobile accuracy of the first paw 3 and the second paw 4.
General the first paw 3 and the second paw 4 are the rectangular flat shape, but be not limited to the rectangular flat shape, the one end is installed with turning arm 022 and guide rail 5 and is connected, a side end with respect to described installation end is provided with hook pawl 8, described hook pawl 8 stretches out along the relative inner of the first paw 3 and the second paw 4, facilitates the successful crawl of target piece.
Further, in order to guarantee the firm crawl of target piece, described the first paw 3 is provided with hold down gag 9 to the inside with the phase of the second paw 4, and described hold down gag 9 arranges along the direction of motion at right angle setting of the first paw 3 and the second paw 4, is generally hydraulic-driven.
Above-described clamping limb 1 specifically connects by jockey 6, described jockey 6 is generally connecting plate, connecting rod and so on, is provided with Connection Block 7 on it, the equipment that described Connection Block 7 is used for other, connect as robot mechanical arm etc., to complete whole crawl function.If the clamping limb of general-purpose manipulator 1 is two pairs, Connection Block 7 operated by rotary motion are in the middle part of jockey 6, to reach the purpose of stress balance.
It is below a concrete application example of the utility model universal mechanical paw.
Control device sends the crawl instruction to the orthoscopic motor driver, orthoscopic motor driver transmitted is to orthoscopic motor 2, orthoscopic motor turning arm 022 begins rotation, drive the first paw 3 and the second paw 4 move toward one another crawl target piece, the first paw 3 and the second paw 4 touch stressed orthoscopic motor 2 stalls that make after target piece, the orthoscopic motor driver detects the stall signal in the scope of setting, stops grasping movement.
Control device sends and unclamps instruction to the orthoscopic motor driver, and target piece is unclamped in clamping limb the first paw 3 and the second paw 4 counter motions.
It is below another concrete application example of the utility model universal mechanical paw.
On the turning arm 022 that this application example and a upper application example difference are orthoscopic motors 2 with encoder, when the first paw 3 and the second paw 4 grab target piece, produce stall, orthoscopic motor 2 rotary speeies change, encoder feeds back to driver according to arranging with this variation, driver stops transmitted, and orthoscopic motor 2 stops the rotation, and clamping limb 1 stops grasping movement.
Adopt above the method various difformities of self adaptation and big or small target piece easily, improved greatly production efficiency.
preferably, described in above two application examples, universal mechanical paw clamping limb 1 is applied on robot mechanical arm, described clamping limb 1 is two pairs, one sub-folder gripping arm 1 is used for grasping target piece, one sub-folder gripping arm 1 is used for placing the target piece that has grasped, two actions can be carried out simultaneously, robot mechanical arm is connected with the universal mechanical paw by Connection Block 7, and control described universal mechanical paw and can freely rotate in plane space, according to the needs universal mechanical paw of flow production line wherein a sub-folder gripping arm 1 rotate suitable angle and rotate to drop target object place after adapting to the target piece on the crawl streamline, simultaneously an other sub-folder gripping arm 1 is rotated to streamline target piece place and is grasped, then rotation is placed, so circulation, can greatly improve production efficiency.Certainly, according to actual needs, how secondary the quantity of clamping limb can be, and is two sub-folder gripping arms as what be used for simultaneously crawl, and what be used for simultaneously placing is two sub-folder gripping arms etc.
The above is only preferred embodiment of the present utility model, not in order to limiting the utility model, all any modifications of doing within spirit of the present utility model and principle, is equal to and replaces and improvement etc., all should be included in protection domain of the present utility model.
Claims (6)
1. a universal mechanical paw, is characterized in that, described universal mechanical paw comprises: two secondary or two secondary above clamping limbs, and described many sub-folders gripping arm is by jockey interval arranged side by side connection;
Described clamping limb comprises: orthoscopic motor, the first paw, the second paw;
Described orthoscopic motor comprises: motor body, and through the turning arm of motor body, described turning arm is shape of threads, the thread rotary orientation of described motor body both sides is opposite;
Described the first paw and the second paw are installed on turning arm end, orthoscopic motor both sides, are connected by nut with turning arm, can by the orthoscopic motor-driven along turning arm shaft extension direction in opposite directions or counter motion, be used for the crawl of target piece or unclamp.
2. universal mechanical paw as claimed in claim 1, it is characterized in that: described clamping limb also comprises guide rail, described guide rails assembling is in motor body one side and turning arm parallel direction, described the first paw, the second paw are connected with the guide rail contact, are used for facilitating the first paw and the second paw along turning arm axial direction Stable sliding in opposite directions or during counter motion.
3. universal mechanical paw as claimed in claim 1 is characterized in that: on described jockey, Connection Block is installed, is used for installing with other equipment and is connected.
4. universal mechanical paw as claimed in claim 1, it is characterized in that: described clamping limb is two pairs, and described Connection Block is positioned at the centre of jockey.
5. universal mechanical paw as claimed in claim 1, it is characterized in that: described the first paw and the second paw are provided with hold down gag in the inboard in opposite directions, described hold down gag is installed perpendicular to the first paw and the second paw direction of motion, when being used for clamping limb crawl target piece, target piece is firmly grasped.
6. universal mechanical paw as claimed in claim 1, it is characterized in that: described the first paw side relative to installation end the second paw is provided with the hook pawl, is used for facilitating the crawl of target piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220747750 CN203003902U (en) | 2012-12-29 | 2012-12-29 | Universal mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220747750 CN203003902U (en) | 2012-12-29 | 2012-12-29 | Universal mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203003902U true CN203003902U (en) | 2013-06-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220747750 Expired - Fee Related CN203003902U (en) | 2012-12-29 | 2012-12-29 | Universal mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203003902U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737605A (en) * | 2013-12-31 | 2014-04-23 | 亨利安（青岛）自动化技术有限公司 | Automatic clamping and fetching device |
| CN103862204A (en) * | 2014-02-27 | 2014-06-18 | 江阴精力汽车装备有限公司 | Automobile bumper grabbing mechanism |
| CN105129418A (en) * | 2015-09-09 | 2015-12-09 | 苏州博众精工科技有限公司 | Dual-purpose feeding clamping claw |
| CN107116530A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | A kind of robot device with holding function |
| CN108453771A (en) * | 2018-04-11 | 2018-08-28 | 华中科技大学 | It is a kind of can flexible modulation pose robot end executing agency |
| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN110065088A (en) * | 2019-06-04 | 2019-07-30 | 珂黎艾净化技术江苏有限公司 | A kind of manipulator for the production of vehicle tail gas emission control clarifier |
| CN110153775A (en) * | 2017-12-28 | 2019-08-23 | 安徽富乐泰水泵系统有限公司 | Pump shaft clamping robot |
| CN110524564A (en) * | 2019-08-30 | 2019-12-03 | 安徽唯宏新材料科技有限公司 | A kind of epoxy plate robot palletizer fixation device |
| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
-
2012
- 2012-12-29 CN CN 201220747750 patent/CN203003902U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737605A (en) * | 2013-12-31 | 2014-04-23 | 亨利安（青岛）自动化技术有限公司 | Automatic clamping and fetching device |
| CN103737605B (en) * | 2013-12-31 | 2015-10-28 | 亨利安（青岛）自动化技术有限公司 | Automation clamp device |
| CN103862204A (en) * | 2014-02-27 | 2014-06-18 | 江阴精力汽车装备有限公司 | Automobile bumper grabbing mechanism |
| CN103862204B (en) * | 2014-02-27 | 2016-04-20 | 江阴精力汽车装备有限公司 | A kind of bumper grasping mechanism |
| CN105129418A (en) * | 2015-09-09 | 2015-12-09 | 苏州博众精工科技有限公司 | Dual-purpose feeding clamping claw |
| CN105129418B (en) * | 2015-09-09 | 2017-08-08 | 苏州博众精工科技有限公司 | A kind of feeding double-purpose clamping jaw |
| CN107116530A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | A kind of robot device with holding function |
| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
| CN110153775A (en) * | 2017-12-28 | 2019-08-23 | 安徽富乐泰水泵系统有限公司 | Pump shaft clamping robot |
| CN110153775B (en) * | 2017-12-28 | 2021-06-25 | 安徽富乐泰水泵系统有限公司 | Pump shaft clamping robot |
| CN108453771A (en) * | 2018-04-11 | 2018-08-28 | 华中科技大学 | It is a kind of can flexible modulation pose robot end executing agency |
| CN108453771B (en) * | 2018-04-11 | 2023-08-25 | 华中科技大学 | Robot end actuating mechanism capable of flexibly adjusting pose |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN109108951B (en) * | 2018-10-23 | 2023-10-03 | 嘉兴新维液压缸有限公司 | Automatic feeding manipulator device |
| CN110065088A (en) * | 2019-06-04 | 2019-07-30 | 珂黎艾净化技术江苏有限公司 | A kind of manipulator for the production of vehicle tail gas emission control clarifier |
| CN110524564A (en) * | 2019-08-30 | 2019-12-03 | 安徽唯宏新材料科技有限公司 | A kind of epoxy plate robot palletizer fixation device |
| CN110561480A (en) * | 2019-09-19 | 2019-12-13 | 常州工学院 | Modular robot finger and gripper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20181229 |